replace set_avoided_tags with avoid_tag & add 'cost' argument

doc/en/scripting/builtins/libpathfinding.md

@@ -55,6 +55,12 @@ pathfinding.pull_route(agent: int) --> table<vec3> or nil
 --- Set the maximum number of visited blocks for the agent. Used to limit the amount of work of the pathfinding algorithm.
 pathfinding.set_max_visited(agent: int, max_visited: int)
 
---- Set a list of tags defining avoided blocks
+--- Adding an avoided blocks tag
-pathfinding.set_avoided_tags(agent: int, tags: table<string>)
+pathfinding.avoid_tag(
+    agent: int,
+    -- tag for avoided blocks
+    tag: string, [optional],
+    -- cost of crossing a block
+    cost: int = 10
+)
 ```

doc/ru/scripting/builtins/libpathfinding.md

@@ -55,6 +55,12 @@ pathfinding.pull_route(agent: int) --> table<vec3> или nil
 --- Установка максимального количества посещенных блоков для агента. Используется для ограничения объема работы алгоритма поиска пути.
 pathfinding.set_max_visited(agent: int, max_visited: int)
 
---- Установка перечня тегов, определяющих избегаемые блоки
+--- Добавление тега избегаемых блоков
-pathfinding.set_avoided_tags(agent: int, tags: table<string>)
+pathfinding.avoid_tag(
+    agent: int,
+    -- тег избегаемых блоков
+    tag: string, [опционально],
+    -- стоимость пересечения блока
+    cost: int = 10
+)
 ```

res/scripts/components/pathfinding.lua

@@ -6,7 +6,7 @@ local tsf = entity.transform
 
 agent = pathfinding.create_agent()
 pathfinding.set_max_visited(agent, 1e4)
-pathfinding.set_avoided_tags(agent, {"core:liquid"})
+pathfinding.avoid_tag(agent, "core:liquid", 8)
 
 function set_target(new_target)
     target = new_target

src/logic/scripting/lua/libs/libpathfinding.cpp

@@ -100,22 +100,16 @@ static int l_set_jump_height(lua::State* L) {
     return 0;
 }
 
-static int l_set_avoided_tags(lua::State* L) {
+static int l_avoid_tag(lua::State* L) {
     if (auto agent = get_agent(L)) {
-        if (!lua::istable(L, 2)) {
+        int index =
-            throw std::runtime_error("array of tags expected");
+            content->getTagIndex(std::string(lua::require_lstring(L, 2)));
-        }
+        if (index != -1) {
-        agent->avoidTags.clear();
+            int cost = lua::tonumber(L, 3);
-        int len = lua::objlen(L, 2);
+            if (cost == 0) {
-        for (int i = 1; i <= len; i++) {
+                cost = 10;
-            lua::rawgeti(L, i);
-            if (lua::isstring(L, -1)) {
-                int index = content->getTagIndex(lua::tostring(L, -1));
-                if (index != -1) {
-                    agent->avoidTags.insert(index);
-                }
             }
-            lua::pop(L);
+            agent->avoidTags.insert({index, cost});
         }
     }
     return 0;
@@ -131,6 +125,6 @@ const luaL_Reg pathfindinglib[] = {
     {"pull_route", lua::wrap<l_pull_route>},
     {"set_max_visited", lua::wrap<l_set_max_visited_blocks>},
     {"set_jump_height", lua::wrap<l_set_jump_height>},
-    {"set_avoided_tags", lua::wrap<l_set_avoided_tags>},
+    {"avoid_tag", lua::wrap<l_avoid_tag>},
     {NULL, NULL}
 };

src/voxels/Pathfinding.cpp

@@ -75,7 +75,7 @@ bool Pathfinding::removeAgent(int id) {
 }
 
 void Pathfinding::performAllAsync(int stepsPerAgent) {
-    for (auto& [id, agent] : agents) {
+    for (auto& [_, agent] : agents) {
         if (agent.state.finished) {
             continue;
         }
@@ -215,7 +215,7 @@ const std::unordered_map<int, Agent>& Pathfinding::getAgents() const {
     return agents;
 }
 
-int Pathfinding::checkPoint(const Agent& agent, int x, int y, int z) {
+int Pathfinding::checkPoint(const Agent& agent, int x, int y, int z, int& cost) {
     auto vox = blocks_agent::get(chunks, x, y, z);
     if (vox == nullptr) {
         return OBSTACLE;
@@ -224,8 +224,9 @@ int Pathfinding::checkPoint(const Agent& agent, int x, int y, int z) {
     if (def.obstacle) {
         return OBSTACLE;
     }
-    for (int tagIndex : agent.avoidTags) {
+    for (const auto& pair : agent.avoidTags) {
-        if (def.rt.tags.find(tagIndex) != def.rt.tags.end()) {
+        if (def.rt.tags.find(pair.first) != def.rt.tags.end()) {
+            cost = pair.second;
             return NON_PASSABLE;
         }
     }
@@ -239,23 +240,27 @@ int Pathfinding::getSurfaceAt(
 
     int status;
     int surface = pos.y;
-    if ((status = checkPoint(agent, pos.x, surface, pos.z)) == OBSTACLE) {
+    int ncost = 0;
-        if ((status = checkPoint(agent, pos.x, surface + 1, pos.z)) == OBSTACLE) {
+    if ((status = checkPoint(agent, pos.x, surface, pos.z, ncost)) == OBSTACLE) {
+        if ((status = checkPoint(agent, pos.x, surface + 1, pos.z, ncost)) == OBSTACLE) {
             return NON_PASSABLE;
         } else if (status == NON_PASSABLE) {
-            ++cost;
+            cost += 5;
         }
+        cost += ncost;
         return surface + 1;
     } else {
         if (status == NON_PASSABLE) {
-            ++cost;
+            cost += 5;
         }
-        if ((status = checkPoint(agent, pos.x, surface - 1, pos.z)) == OBSTACLE) {
+        if ((status = checkPoint(agent, pos.x, surface - 1, pos.z, ncost)) == OBSTACLE) {
+            cost += ncost;
             return surface;
         } else if (status == NON_PASSABLE) {
-            ++cost;
+            cost += 5;
         }
-        if ((status = checkPoint(agent, pos.x, surface - 2, pos.z)) == OBSTACLE) {
+        if ((status = checkPoint(agent, pos.x, surface - 2, pos.z, ncost)) == OBSTACLE) {
+            cost += ncost;
             return surface - 1;
         }
         return NON_PASSABLE;

src/voxels/Pathfinding.hpp

@@ -61,7 +61,7 @@ namespace voxels {
         glm::ivec3 target;
         Route route;
         State state {};
-        std::set<int> avoidTags;
+        std::set<std::pair<int, int>> avoidTags;
     };
 
     class Pathfinding {
@@ -90,6 +90,6 @@ namespace voxels {
             const Agent& agent, const glm::ivec3& pos, int maxDelta, float& cost
         );
 
-        int checkPoint(const Agent& agent, int x, int y, int z);
+        int checkPoint(const Agent& agent, int x, int y, int z, int& cost);
     };
 }